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In terms of stability we have not yet made any claims for any of the arm navigation stacks, including motion_planning_common. A good deal of this software will be being released as stable in our forthcoming e-turtle release. As part of the e-turtle release we have been developing a number of tools that attempt to make it easier to interact with the software. Among these is an auto-configuration tool that should make it easier to get all of our software working for a new robot. If you are interested you can try out the new tutorial, though it will require installing some software from our unstable debians. The tutorial is here: tutorial. Again, this won't be stable until the e-turtle release, but definitely the easiest way forward to trying out our software.

In terms of displaying detected collisions in rviz we don't currently have a tool that will do that out of the box. We're working on something like that, but it won't be available for a little while.